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421.
串并混联空间机械臂全自由度轨迹规划算法 《空间控制技术与应用》2015,41(5):13-18
目前,国内外对串并混联空间机械臂的研究较少;而且大多在舍弃冗余自由度的情况下进行轨迹规划.针对7自由度串并混联空间机械臂,提出了一种基于解析解、并且充分放开全部7个自由度的机械臂轨迹规划算法.该规划算法既扩大了串并混联空间机械臂的规划可达空间,又保证了规划的实时性,同时还保留了结构承载能力强的优点,可以充分发挥其作为空间抓捕用臂的优势.通过仿真和地面空间操作抓捕试验,验证了算法的有效性. 相似文献
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高精度VLBI技术在深空探测中的应用 总被引:1,自引:1,他引:0
介绍了适合单探测器测定轨的高精度VLBI技术和适合多探测器测定位的同波束VLBI技术的研究进展。利用"嫦娥3号"着陆器的ΔDOR型VLBI观测,得到了误差0.67ns的VLBI群时延数据。利用"嫦娥3号"着陆器和月球车的同波束VLBI观测,得到了随机误差0.3ps的差分相时延数据,以数厘米的灵敏度监测出月球车的移动、转弯等动作,并把月球车的相对定位精度提高至1m。针对深空探测,提出了使VLBI时延测量精度进一步提高所需要开展的部分研究内容。 相似文献
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针对航天设备在轨运行时间长、不易更换的特点,提出了一种力矩宽且范围可调的步进电机控制电路设计。该电路原理样机以Xilinx公司的XC3S400pq-208型FPGA为核心控制芯片,以LMD18200为步进电机驱动芯片。在对电路总体设计进行介绍的基础上,重点阐述了航天过程中步进电机阻力矩增加的问题,以及通过脉冲频率和PWM控制技术调节输出力矩的方法。试验结果表明,力矩可调范围的最大值能够使力矩裕度达到4,匹配步进电机在轨运行过程中的力矩要求。 相似文献
428.
Turbo码之译码过程通常采用LOG-MAP算法的迭代译码,在获得很好的译码性能的同时,也造成了巨大的译码延迟,因而限制了其实际应用。为了降低译码延迟,通常采用分块并行译码方案,将译码器接收到的长帧分割为长度较小的子帧。对基于LOG-MAP算法的并行译码方案进行仿真实现,结果表明并行译码方案在获得很好的译码延时的同时,也存在误比特率性能的下降,即所谓分块效应。 相似文献
429.
Iliana Ilieva Tania Ivanova Yordan Naydenov Ivan Dandolov Detelin Stefanov 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2010
Light is necessary for photosynthesis and shoot orientation in the space plant growth facilities. Light modules (LM) must provide sufficient photosynthetic photon flux for optimal efficiency of photosynthetic processes and also meet the constraints for power, volume and mass. A new LM for Svet space greenhouse using Cree® XLamp® 7090 XR light-emitting diodes (LEDs) was developed. Monochromic LEDs emitting in the red, green, and blue regions of the spectrum were used. The LED-LM contains 36 LED spots – 30 LED spots with one red, green and blue LED and 6 LED spots with three red LEDs. Digital Multiplex Control Unit controls the LED spots and can set 231 levels of light intensity thus achieving Photosynthetic Photon Flux Density (PPFD) in the range 0–400 μmol m−2 s−1 and different percentages of the red, green and blue light, depending on the experimental objectives. Two one-month experiments with plants – lettuce and radicchio were carried out at 400 μmol m−2 s−1 PPFD (high light – HL) and 220 μmol m−2 s−1 PPFD (low light – LL) and 70% red, 20% green and 10% blue light composition. To evaluate the efficiency of photosynthesis, in vivo modulated chlorophyll fluorescence was measured by Pulse Amplitude Modulation (PAM) fluorometer on leaf discs and the following parameters: effective quantum yield of Photosystem II (ΦPSII) and non-photochemical quenching (NPQ) were calculated. Both lettuce and radicchio plants grown at LL express higher photochemical activity of Photosystem II (PSII) than HL grown plants, evaluated by ΦPSII. Accelerated rise in NPQ in both LL grown plants was observed, while steady state NPQ values were higher in LL grown lettuce plants and did not differ in LL and HL grown radicchio plants. The extent of photoinhibition process in both plants was evaluated by changes in malonedialdehyde (MDA) concentration, peroxidase (POX) activity and hydrogen peroxide (H2O2) content. Accumulation of high levels of MDA and increased POX activity correlating with decreased H2O2 content were observed in both HL grown plants. These biochemical indicators revealed higher sensitivity to photodamage in HL grown lettuce and radicchio plants. LL conditions resulted in more effective functioning of PSII than HL when lettuce and radicchio plants were grown at 70% red, 20% green and 10% blue light composition. 相似文献
430.
Eun-Jung Choi Jae-Cheol Yoon Byoung-Sun Lee Sang-Young Park Kyu-Hong Choi 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2010
Spaceborne GPS receivers are used for real-time navigation by most low Earth orbit (LEO) satellites. In general, the position and velocity accuracy of GPS navigation solutions without a dynamic filter are 25 m (1σ) and 0.5 m/s (1σ), respectively. However, GPS navigation solutions, which consist of position, velocity, and GPS receiver clock bias, have many abnormal excursions from the normal error range for space operation. These excursions lessen the accuracy of attitude control and onboard time synchronization. In this research, a new onboard orbit determination algorithm designed with the unscented Kalman filter (UKF) was developed to improve the performance. Because the UKF is able to obtain the posterior mean and covariance accurately by using the second-order Taylor series expansion through the sampled sigma points that are propagated by using the true nonlinear system, its performance can be better than that of the extended Kalman filter (EKF), which uses the linearized state transition matrix to predict the covariance. The dynamic models for orbit propagation applied perturbations due to the 40 × 40 geo-potential, the gravity of the Sun and Moon, solar radiation pressure, and atmospheric drag. The 7(8)th-order Runge–Kutta numerical integration was applied for orbit propagation. Two types of observations, navigation solutions and C/A code pseudorange, can be used at the user’s discretion. The performances of the onboard orbit determination were verified using real GPS data of the CHAMP and KOMPSAT-2 satellites. The results of the orbit determination were compared with the precision orbit ephemeris (POE) of the CHAMP and KOMPSAT-2 satellites. 相似文献