航天器机械臂柔性力控辅助装配方法

文章从装配的实际需求出发,提出一种航天器机械臂柔性力控辅助装配方法:通过在机械臂末端法兰与负载之间安装的六维力传感器感知作用力与力矩信息,人手直接作用于机械臂末端的负载,系统通过负载的重力补偿算法获得人手作用的力与力矩信息,而后以力/力矩信息作为输入来控制机械臂进行移动或转动,使负载柔性跟随人手运动。文章给出了装配方法的详细设计方案与相关算法,并进行了初步试验验证。试验表明,该装配方法可以有效提高在航天器狭小空间内进行大重量工件安装的效率,且安全可靠。     

Doppler observations of infrasonic waves of meteorological origin at ionospheric heights

Ionospheric effects of meteorological origin observed by the continuous HF Doppler sounder over the Czech Republic are reported in this paper. We focused on detection of waves of periods 1–10 min. We discuss the influence of dynamics and intensity of active weather systems on the occurrence of short period waves and dependence of the observed ionospheric effects on the height of reflection of the sounding radio wave. We observed 3–5 min waves during a severe weather event in summer and 2.5–4 min waves during a severe weather event in winter. We excluded possible geomagnetic origin of these oscillations by the analysis of fluctuations of the local geomagnetic field. In eight cases of 10, wave activity in the analysed period range was not significantly increased comparing to quiet days. The intensity of weather systems as well as the location of potential sources of waves towards the points of HF Doppler shift observation influence significantly the occurrence of infrasonic waves in the ionosphere. The results in Central Europe differ considerably from those previously obtained in North America. As a possible reason, we discuss different intensity and dynamics of weather systems in both regions.     

Possible physical properties of the flow in the vicinity of the heliopause

An interface between the fully ionized hydrogen plasma of the solar wind (SW) and the partially ionized hydrogen gas flow of the local interstellar medium (LISM) is formed as a region where there is a strong interaction between these two flows. The interface is bounded by the solar wind termination shock (TS) and the LISM bow shock (BS) and is separated on two regions by the heliopause (HP) separating the solar wind and charged component of the LISM (plasma component below). The BS is formed due to the deceleration of the supersonic LISM flow relative to the solar system. Regions of the interface between the TS and HP and between the HP and BS were in literature named as the inner and outer heliosheaths, respectively. An investigation of the structure and physical properties of the heliosheath is at present especially interested due to the fact that Voyager-1 and Voyager-2 have crossed the TS in December 2004 (Burlaga, L.F., Ness, N.F., Acuna, M.Y., et al. Crossing the termination shock into the the heliosheath. Magnetic fields. Science 309, 2027–2029, 2005; Fisk, L.A. Journey into the unknown beyond. Science 309, 2016–2017, 2005; Decker, R.B., Krimigis, S.M., Roelof, E.C., et al. Voyager 1 in the foreshock, termination shock and heliosheath. Science 309, 2020–2024, 2005; Stone, E.C., Cummings, A.C., McDonald, F.B., et al. Voyager 1 explores the termination shock region and the heliosheath beyond. Science 309, 2017–2020, 2005) and in September 2007 (Jokipii, J.R. A shock for Voyager 2. Nature 454, 38–39, 2008; Gurnett, D.A., Kurth, W.S. Intense plasma waves at and near the solar wind termination shock. Nature 454, 78–80, 2008. doi: 10.1038/nature07023; Wang, L., Lin, R.P., Larson, D.E., Luhmann, J.G. Domination of heliosheath pressure by shock-accelerated pickup ions from observations of neutral atoms. Nature 454, 81–83, 2008. doi: 10.1038/nature07068.14; Burlaga, L.F., Ness, N.F., Acuna, M.H., et al. Magnetic fields at the solar wind termination shock. Nature 454, 75–77, 2008. doi: 10.1038/nature07029; Richardson, J.D., Kasper, J.C., Wang, C., et al. Cool heliosheath plasma and deceleration of the upstream solar wind at the termination shock. Nature 454, 63–66, 2008. doi: 10.1038/nature07024; Stone, E.C., Cummings, A.C., McDonald, F.B., et al. An asymmetric solar wind termination shock. Nature 454, 71–74, 2008. doi: 10.1038/nature07022; Decker, R.B., Krimigis, S.M., Roelof, E.C., et al. Mediation of the solar wind termination shock by non-thermal ions. Nature 454, 67–70, 2008. doi: 10.1038/nature 07030), respectively, and entered to the inner heliosheath.     

Mesospheric doppler wind measurements from Aura Microwave Limb Sounder (MLS)

This paper describes a microwave limb technique for measuring Doppler wind in the Earth’s mesosphere. The research algorithm has been applied to Aura Microwave Limb Sounder (MLS) 118.75 GHz measurements where the O₂ Zeeman lines are resolved by a digital autocorrelation spectrometer. A precision of ∼17 m/s for the line-of-sight (LOS) wind is achieved at 80–92 km, which corresponds to radiometric noise during 1/6 s integration time. The LOS winds from Aura MLS are mostly in the meridional direction at low- and mid-latitudes with vertical resolution of ∼8 km. This microwave Doppler technique has potential to obtain useful winds down to ∼40 km of the Earth’s atmosphere if measurements from other MLS frequencies (near H₂O, O₃, and CO lines) are used. Initial analyses show that the MLS winds from the 118.75 GHz measurements agree well with the TIDI (Thermosphere Ionosphere Mesosphere Energetics and Dynamics Doppler Interferometer) winds for the perturbations induced by a strong quasi 2-day wave (QTDW) in January 2005. Time series of MLS winds reveal many interesting climatological and planetary wave features, including the diurnal, semidiurnal tides, and the QTDW. Interactions between the tides and the QTDW are clearly evident, indicating possible large tidal structural changes after the QTDW events dissipate.     

微型飞机降低重心位置对稳定性的影响

由于微型飞机有最大尺寸的限制,通常平尾/升降舵距离机翼和全机重心很近,造成气动效率和纵向静稳定性都比较低。研究了不使用平尾/升降舵、而是通过降低微型飞机重心位置来获得纵向静稳定性的思路。分析了重心低置情况下的纵向力矩平衡关系,推导了相应的纵向静稳定性的计算公式,并构造了计算模型和试飞样机进行实例分析。结果表明,通过降低重心位置可以有效地增大微型飞机的纵向静稳定性,并可以在没有平尾的情况下实现纵向力矩平衡和获得静稳定性。其静稳定性裕度可以通过重心与气动中心的纵向距离来调节。     

Low-Frequency Waves and Instabilities in Collisionless Plasmas

We present a theoretical overview of low-frequency waves and instabilities in collisionless, multi-component plasmas with gyrotropic ( ) thermal pressure. We show that the complete dispersion relation can be obtained in the framework of a mixed magnetohydrodynamic (MHD)-kinetic formalism, which uses the MHD mass, momentum, and induction equations, together with the kinetically corrected version of the double-adiabatic equations of state. The complete dispersion relation contains not only the three standard modes (fast, slow, and Alfvén) from double-adiabatic MHD, but also the mirror mode from kinetic theory. We examine the stability properties of these four modes, firstly in the case of a uniform medium, and secondly in the case of a stratified and rotating medium. We also discuss the connections with the quasi-interchange modes (interchange and translation) often referred to in the context of magnetospheric physics.     

基于导波原位检测的复合材料疲劳表征与寿命预测研究

随着复合材料在先进飞行器结构中占比的逐渐增加,复合材料在服役过程中力学性能的变化对飞行器整体的安全至关重要。为了实现基于导波原位检测的飞行器复合材料整体部件疲劳评估和寿命预测,首先,从宏观和细观的角度研究复合材料疲劳损伤演化规律;在此基础上,通过分析导波波场信息,探究导波相速度、模态能量比等特征在表征复合材料疲劳方面的潜力;其次,从复合材料损伤机理出发,建立导波相速度与疲劳损伤累积的演化模型;然后,构建深度学习框架,以数据驱动的方式从导波波场中提取疲劳演化特征;最后,提出基于贝叶斯模型平均方法的疲劳演化模型,对复合材料剩余疲劳寿命进行预测。结果表明：通过提取和分析导波特征信息,可以准确地对复合材料疲劳状态进行表征,结合贝叶斯模型平均方法和置信区间准则,实现了在试件疲劳破坏之前的剩余寿命预测。     

Gravity waves generated by thunderstorms: South-East Asia tropical region study

Gravity waves are recognized as an integral part of earth’s atmosphere which are mainly responsible for energy and momentum distribution among different layers and regions in the atmosphere. Various sources present in land, ocean, and atmosphere such as mountains, convection, jets and fronts etc. are responsible for gravity waves generation. Thunderstorms (deep convection) are one of the major sources of gravity waves in the tropical region, capable of generating waves with a wide range of frequencies and scales and significantly affecting the existing waves. Previous numerical studies have characterised the wave properties that are generated from thunderstorms, but there are no statistically quantified studies. In this paper, we have modelled the relationship between the latent heat generated inside a thunderstorm and the gravity wave properties at the geo-collocated points. Gravity waves are identified over Singapore radiosonde station (with data available until 30?km altitude with 12?h temporal resolution) in the stratosphere using wavelet studies. Based on the GROGRAT ray tracing methods to identify the thunderstorm locations, and RAMS cloud-resolving models simulations to obtain the latent heating of the thunderstorm, a regression analysis is performed using 200 cases of gravity waves. Furthermore, cloud-top momentum flux analysis is performed for various cases latent heat. This study is expected to provide more quantified and concrete information on the coupling between the thunderstorm and gravity wave which includes the variance in these relationships due to wave frequency spectrum and generation mechanisms.     

Magnetospheric and ionospheric manifestations of interplanetary foreshocks

The geometry of a typical interplanetary shock front in the vicinity of the Earth’s orbit predicts that the leading edge of the foreshock region comes into contact with the magnetosphere a few hours ahead of geomagnetic sudden impulses (SI). There is reason to believe that the interaction of the magnetosphere with the foreshock leads to magnetic and ionospheric disturbances, which can be detected by ground-based instruments. We searched for specific precursors of SIs in data from the Scandinavian riometer network and in the short period geomagnetic pulsation data from mid-latitude magnetometers. We found that SIs were preceded by the following three features: (1) an increase in riometric absorption, (2) excitation of Pcl magnetic pulsations and (3) a spectral broadening of the Pc3 magnetic pulsations. Our observations may be useful for the study of acceleration processes in the solar wind. These observations are also of potential forecasting interest.