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921.
922.
灵巧手主从抓持中的运动映射 总被引:2,自引:0,他引:2
抓持规划是灵巧手研究中的关键问题之一,主从抓持是目前较为可行的解决方案.其核心问题是将人手的抓持合理地映射为灵巧手的抓持.以仿人灵巧手为研究对象,提出了从人手到灵巧手的主从运动映射方法,在直角空间内建立了主从运动映射模型.根据人手和灵巧手运动学结构的相似性,提出了主从映射矩阵的简化形式,即通过主从手指尖位置增量的线性比例映射,由人手各指尖的运动独立控制灵巧手对应指尖的运动.通过实验对主从映射结果进行了分析,初步探讨了主从映射应满足的基本要求.实验结果表明,映射所确定的灵巧手的指尖位置基本在其工作空间,从而保证主从运动可行;主从手的运动轨迹较为相似,从而保证了主从控制的简单直观. 相似文献
923.
研究了自然纹理图像的描述与分类的方法,提出了基于分数布朗运动模型及其协方差函数的方法.分数布朗运动的协方差函数被用来估计自然纹理特征的Hurst系数和常数k.2个子图像的5个特征组成10个特征的特征集.与直接从原始纹理图像获得特征矢量不同,该方法的10个特征矢量是分别基于大于图像灰度平均值的图像和小于图像灰度平均值的图像得到的.以纹理图像的平均值为阈值,可以得到2幅子纹理图像.从每个子纹理图像提取出5个特征,它们分别是横向、纵向和45°方向的常数,横向和纵向距离为2的Hurst系数.2个子纹理的5个特征组成10个特征的特征集.从Brodatz纹理集选出的16种纹理图像被用来检验描述和分类效果,分类结果显示该方法具有很好的自然纹理的描述和分类能力. 相似文献
924.
Xinggang Zhang Shuanggen Jin 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2014
Global positioning system (GPS) observations can be used to estimate the geocenter motion, but are subjected to large uncertainties and effects due to uneven distribution of GPS stations and high-degree aliasing errors. In this paper, uncertainties and effects on geocenter motion estimates from global GPS observations are investigated and assessed with different truncated degrees and selected GPS network distributions based on different plate motion models, including NUVEL-1A, MORVEL56 and ITRF08. Results show that the selected GPS stations have no big effects on geocenter motion estimates based on different plate motion models, while large uncertainties are found at annual and semi-annual components when using different truncated degrees. Correlations of geocenter motion estimates from selected GPS networks with GRACE and SLR are better with truncated degree 3, and higher truncated degrees will degrade geocenter estimates. Smaller RMS also shows better results with the truncated degree 3 and the NUVEL1A has the worse results because more GPS sites are eliminated. For annual signal with truncated degree 3, four GPS strategies can reduce annual amplitudes by about 29.2% in X, 5.6% in Y, and 27.9% in Z with respect to truncated degree 1. Annual phases of all GPS solutions from MORVEL56 and ITRF08 are almost close to the GRACE solution with truncated degrees from 3 to 10, while the semi-annual signals are relatively weaker for all cases. 相似文献
925.
Yonglong Zhang Junfeng Li Xiangyuan Zeng 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2021,67(10):3328-3342
Asteroids are coming to be a popular topic in the areas of astrophysical studies and deep space exploration recently. However, surface dynamics of asteroids is still a difficult problem. This paper aims at the motion analysis of surface particles for different asteroids. The dynamical analysis method of particles’ movement is given for three parts: global motion trend, local motion trend and static analysis. A dimensionless parameter ζ is defined to distinguish the predominant term to determine the distribution of effective potential. Three kinds of common asteroids: spheroidal asteroid, spindle-shaped asteroid and dumbbell-shaped asteroid are all discussed for those three parts with different parameter ζ. The motion trend of particles on the surface of each kind of asteroid is given. The static analysis of surface particles for different asteroids is also illustrated. Based on them, some common rules for different shaped asteroids are revealed. This paper could not only provide a reference for asteroid exploration missions but also be meaningful for the research of morphologic evolution of asteroids. 相似文献
926.
Yuya Mimasu Tomohiro Yamaguchi Michihiro Matsumoto Masaki Nakamiya Ryu Funase Jun’ichiro Kawaguchi 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2011
The orbit of a solar sail can be controlled by changing the attitude of the spacecraft. In this study, we consider the spinning solar power sail IKAROS (Interplanetary Kite-craft Accelerated by Radiation Of the Sun), which is managed by Japan Aerospace Exploration Agency (JAXA). The IKAROS attitude, i.e., the direction of its spin-axis, is nominally controlled by the rhumb-line control method. By utilizing the solar radiation torque, however, we are able to change the direction of the spin-axis by only controlling its spin rate. With this spin rate control, we can also control indirectly the solar sail’s trajectory. The main objective of this study is to construct the orbit control strategy of the solar sail via the spin-rate control method. We evaluate this strategy in terms of its propellant consumption compared to the rhumb-line control method. Finally, we present the actual flight attitude data of IKAROS and the change of its trajectory. 相似文献
927.
文章介绍了用于航天员前庭功能测试的多功能转椅和四柱电动秋千。前者采用液压控制,可产生不同位置下水平旋转的角加速度,利用20对引电环记录生理测试信号;后者通过内外框架和吊篮舱的自然摆动进行线加速度测试,摆杆长度以0.5m为档差,分为3.5m、4m、4.5m、5m、5.5m、6m六档可调。 相似文献
928.
本文采用试验的均匀设计方法,结合对气动力矩的理论估算,利用计算机仿真,研究了姿态运动对落舱微重力水平的影响.结果表明,在落舱下落的前60s内,要想保持优于10(-3)g数量级的微重力水平,以满足一般科学实验的要求,则必须安装姿态控制系统. 相似文献
929.
930.