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61.
滑移铰空间机器人基于分级Lyapunov方法的避障碍非完整运动规划 总被引:8,自引:1,他引:8
基于分级Lyapunov方法,讨论了载体姿态与位置均不受控制的滑移铰空间机器人末端运动轨迹的避障碍运动学规划问题.首先以系统动量矩守恒关系及运动Jacobi关系为基础,建立了控制设计所需的系统状态方程及控制输出方程.此后,在Lyapunov函数的选取上采取分两级采取的方式,即初级Lyapunov函数确保滑移铰空间机器人的末端抓手从初始位置运动到指定的终点位置,次级Lyapunov函数则确保末端抓手避开工作空间中的障碍区域;两级合成则使空间机器人的末端抓手既实现了指定的位置移动又避开了障碍区域.系统数值仿真,证明了方法的有效性. 相似文献
62.
双臂空间机器人系统运动规划的双向逼近方法 总被引:11,自引:2,他引:11
基于双向逼近方法,讨论了载体位置与姿态均不受控制的双臂空间机器人系统的运动规划问题.该方法以系统动量和动量矩守恒关系为基础,建立了控制系统设计所需系统状态方程;并通过对系统状态方程应用双向逼近方法,获得了机械臂关节角的控制输入方程,从而达到对载体姿态及机械臂关节角的双重控制效果.该方法的优点是减少了载体姿态控制燃料的消耗,有效地延长了空间机器人系统的使用寿命.系统数值仿真证明了该方法的有效性. 相似文献
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D.K. Callebaut V.I. Makarov A.G. Tlatov 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2007,40(12):1917-1920
After a polar reversal in one hemisphere the Sun has two polar caps of the same sign, leaving it in a kind of monopolar state. It may take months before a polar reversal occurs in the other hemisphere. The situation may have been extreme in the Maunder Minimum where the northern hemisphere most probably did not have polar reversals during several cycles, while the southern hemisphere may have had some. This may affect the interplanetary field and thus the cosmic rays reaching the Earth. Using the relation between the Wolf number and the speed of the global magnetic field regions the yearly mean Wolf number has to exceed 40 in order to have polar reversals, hence per hemisphere we expect that it must exceed 20. This may be used to give a definition of a deep minimum. 相似文献
67.
A. Damiani E. Benedetti M. Storini C. Rafanelli 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2008,41(1):223-226
The International Heliophysical Year offers a good opportunity to develop and coordinate studies on the Sun–Earth system by using a large variety of simultaneous data obtained by satellite/spacecraft and ground based instruments. Among these data we recall the ones coming from solar and interplanetary medium observations, auroral, neutron monitor, geomagnetic field, ionospheric, meteorological, and other atmospheric observatories. In this context, an Information System for the Italian Research in Antarctica has started in 2003, aiming to collect information on the scientific research projects funded by the National Antarctic Research Program of Italy since its establishment (1985). It belongs to Joint Committee on Antarctic Data Management of Scientific Committee on Antarctic Research as Italian Antarctic Data Center. This project, as the Italian Polar Database, gathers also information on research activities conducted in North Pole regions. This Information System can be a relevant resource for capacity building associated with the International Heliophysical Year, especially for people involved in interdisciplinary researches. We describe the present status of the Italian Polar Data Center and its potential use. 相似文献
68.
In this paper, a novel transmission protocol based on polar coding is proposed for the half-duplex degraded relay channel. In the proposed protocol, referred to as the partial message relaying, the relay only needs to forward a part of the decoded source message that the destination needs according to the exquisite nested structure of polar codes. Theoretically, it is proved that the scheme can achieve the capacity of the half-duplex relay channel under the decode-and-forward (DF) cooperation strategy while enjoying low encoding/decoding complexity. Practically, in order to minimize the global transmission power, the optimization of the power allocation is performed between the source and the relay by using information theoretic tools. Furthermore, a joint iterative soft parallel interference cancellation receiver structure is developed to suit to the proposed scheme. Simulation results show that the proposed scheme outperforms the conventional scheme designed by low-density parity-check (LDPC) codes. 相似文献
69.
A. Jäggi H. BockL. Prange U. MeyerG. Beutler 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2011
Gravity missions such as the Gravity field and steady-state Ocean Circulation Explorer (GOCE) are equipped with onboard Global Positioning System (GPS) receivers for precise orbit determination (POD), instrument time-tagging, and the extraction of the long wavelength part of the Earth’s gravity field. The very low orbital altitude of the GOCE satellite and the availability of dense 1 s GPS tracking data are ideal characteristics to exploit the contribution of GPS high-low Satellite-to-Satellite Tracking (hl-SST) to gravity field determination. We present gravity field solutions based on about 8 months of GOCE GPS hl-SST data from 2009 and compare the results with those obtained from the CHAllenging Minisatellite Payload (CHAMP) and Gravity Recovery And Climate Experiment (GRACE) missions. The very low orbital altitude of GOCE significantly improves gravity field recovery from GPS hl-SST data above degree 20, but not for the degrees below 20, where the quality of the spherical harmonic coefficients remains essentially unchanged. Despite the limited time span of GOCE data used, the gravity field of the Earth can be resolved up to about degree 115 using GPS data only. Empirically determined phase center variations (PCVs) of the GOCE onboard GPS helix antenna are, however, mandatory to achieve this performance. 相似文献
70.
Hemispherical Resonator Gyroscope(HRG) is a classical high precision Coriolis Vibration Gyroscope(CVG), which performs attitude estimation of carrier by detecting the precession of standing wave of resonator, thus, the drift of standing wave of resonator has a great influence on the output accuracy of gyroscope, where the quality factor nonuniformity of resonator is one of main error sources. Ring electrode is a classical excitation structure of HRG because the standing wave can precess freely u... 相似文献