参数不确定空间机械臂系统的自适应鲁棒性联合控制

本文讨论载体位置与姿态均不受控制的自由浮动空间机械臂系统的控制问题，基于增广变量法，提出当机械臂与载荷参数不确定时自由浮动空间机械臂追踪惯性空间期望轨迹的自适应棒性联合控制方法。通过仿真运算，证实了方法的有效性。     

空间机械臂动力学奇点与回避

本文导出空间机械臂非完整约束方程，讨论自由漂浮系统动力学奇点问题，对冗余和非冗余系统分别提出避免奇点的方法，对平面运动情形得到减少奇点出现的工程方法。文中附有算例。     

变幅载荷对高温合金裂纹萌生及扩展寿命的影响

为了更好地分析航空发动机用高温合金裂纹萌生阶段的变幅载荷对高温材料的低周疲劳裂纹萌生及扩展寿命的影响,将低周疲劳的裂纹萌生过程视作损伤累积过程,基于连续损伤力学建立了低周疲劳损伤累积模型.结合室温下GQGH4169合金的裂纹扩展试验数据,通过有限元建模计算和数值分析方法确定了模型中具体的损伤参数数值,并对裂纹萌生寿命进行了预测.结果表明:该方法不但能准确地预测变幅加载下CT试样的裂纹萌生寿命,而且能很好地反映萌生阶段变幅载荷对裂纹扩展寿命的影响,而且降低了试验成本.     

Analytical and semi-analytical inverse kinematics of SSRMS-type manipulators with single joint locked failure

Redundant space manipulators, including Space Station Remote Manipulator System (SSRMS), Special Purpose Dexterous Manipulator (SPDM) and European Robotic Arm (ERA), have been playing important roles in the construction and maintenance of International Space Station (ISS). They all have 7 revolute joints arranged in similar configurations, and are referred to as SSRMS-type manipulators.     

高频激励下旋转柔性臂逆动力学模态自适应方法研究

在空间柔性机械臂的动力学与控制问题中,逆动力学求解常要求有较高的计算速度.当柔性多体系统受到高频激励时,必须考虑高阶模态才能保证足够的计算精度,但同时提高了计算自由度数,降低了计算速度.为了提高此类问题的计算效率,本文将模态自适应策略应用于旋转柔性臂逆动力学建模,计算了高频激励下产生期望旋转运动的柔性臂关节驱动力矩,验证了该方法的有效性,并研究了重力对计算结果的影响.      

弹性损伤的一般理论

依据不可逆热力学理论,未引入任何附加假设,建立了各向异性弹性损伤的一般理论.从理论上论证了由应变等效假设导出的经典损伤本构方程的近似性.首次阐明了材料损伤度的多种定义(损伤的单标量、双标量、二阶张量与四阶张量描述)之间的区别与联系.使连续损伤力学的理论体系更臻严密和完整.      

基于旋量理论及距离误差的机械臂标定新方法

为提高机械臂的定位及定姿精度,必须对其进行标定.标定能否达到预期目的,主要取决于所采用的运动学模型及消除参数识别过程中外来误差的影响.分析了基于不同运动学模型时机械臂的初始位姿误差对标定结果的影响.提出了一种结合旋量理论与距离模型的标定用数学模型.该模型考虑了机械臂初始位姿误差对标定的影响,解决了用D-H参数建模存在的弊端,同时能消除因机械臂坐标系统与测量设备坐标系统之间转换所带来的误差,克服了测量技术上的困难.仿真计算验证了这种新标定数学模型的可行性.      

平面柔性欠驱动机械臂的非线性动力学分析

研究了平面柔性欠驱动机械臂中被动关节对系统动态特性的影响 ,在动力学分析的基础上 ,提出了一种基于内共振原理的柔性欠驱动机械臂振动控制方法。在对系统的稳态周期运动进行分析研究的基础上 ,发现处于自由摆动状态的被动关节的平衡位置随系统结构的振动而发生漂移 ,并且被动关节平衡位置的漂移速度和方向与周期输入的振幅有关。提出利用结构柔性产生的振动实现被动关节位置控制的方法 ,通过平面二连杆柔性欠驱动机械臂进行了仿真计算     

Interstellar scintillation,ISS, and intrinsic variability of radio AGN

We investigate the relationship between the 5 GHz interstellar scintillation (ISS) and the 15 GHz intrinsic variability of the compact, radio-selected active galactic nuclei (AGN) common to the Microarcsecond Scintillation-Induced Variability (MASIV) Survey and the Owens Valley Radio Observatory blazar flux density monitoring program. As part of this investigation, we also re-examine the reported intrinsic nature of the February 1990 VLA observations of the blazar S5 0716+714. We are also examining the presence of IDV/ISS in the Owens Valley 15 GHz flux density monitoring data. We find a significant relationship between the Owens Valley 15 GHz modulation index and the MASIV modulation index. We also discuss the implications of these findings for RadioAstron.     

GMRT monitoring of Cyg X-1 and Cyg X-3

We present the results of low frequency radio observations of the X-ray binaries, Cygnus X-1 and Cygnus X-3, during different X-ray states. The low frequency observations were made for the first time for these sources at 0.61 and 1.28 GHz using the Giant Meter-wave Radio Telescope (GMRT) between 2003 and 2004. Both Cyg X-1 and Cyg X-3 are highly variable at low radio frequencies. We also compare our data with the observations at 15 GHz conducted by the Ryle telescope. Spectral turnover is seen for both the sources below 2 GHz. The data suggest that the change in the radio flux density in both the sources is correlated to the X-ray hardness ratio and follows a similar behavior pattern.