Compensation of base disturbance using optimal trajectory planning of dual-manipulators in a space robot

This paper presents a trajectory planning algorithm for a space robot with dual-manipulators. Here one manipulator of the space robot captures a target, and another manipulator is free. In this case, this study uses one manipulator as the mission manipulator to capture the target, and another as the balance manipulator aiming at the compensation of the pose disturbance. For this method, a novel trajectory planning algorithm applied to the balance manipulator is presented. The trajectory planning problem is transformed into series of problems of the optimal state solution, and then the iterative algorithms for the trajectory planning are designed. In the iterative algorithms, the bias force on the spacecraft base caused by the balance manipulator is used as the compensation force. Then, to calculate the expected compensation force and torque, a pose control law for the spacecraft base is introduced. The expected compensation force and torque provide equality constraints for optimization problems, which implies that the trajectory planning algorithm compensates for not only the disturbance generated by the manipulator’s motion, but also environmental disturbances. This is because the expected compensation force and torque depend on the pose change of the spacecraft base rather than the type of the disturbance. Numerical simulation was carried out to analyze the proposed trajectory planning method. It was observed that the method greatly reduces the disturbance of Manipulator A on the spacecraft base. These results validated the effectiveness of the proposed method for the trajectory planning to make the spacecraft base disturbance up to minimum.     

Task allocation strategies for cooperative task planning of multi-autonomous satellite constellation

In recent years, the application of imaging satellites has entered a completely new stage, with the new demands such as rapid response to emergency events, observation of large-scale regional targets and multivariate data fusion, the multi-autonomous satellite constellation has been proposed. This paper first designs the structure of multi-autonomous satellite constellation, and a centralized-distributed structure is proposed. This structure could improve the dynamic response capacity of the whole constellation. Then, this paper adds adapted filtering mechanism to single autonomous satellite online scheduling algorithm to enhance its performance. This article also pays more attention on task allocation strategies of the master satellite in constellation, and ten different task allocation strategies based on five dimensions are analyzed by simulation experiments. At last, this paper extracts several characteristic features of the regular observation targets and designs a selector based on support vector machine (SVM). This selector could select an appropriate strategy according to the features of each experiment scenario.     

频率选择性衰落信道DS-CDMA无人机中继通信系统航迹规划

无人机中继通信是实现远距离无线通信的一种重要技术手段，无人机的飞行航迹对无人机中继通信系统的链路传输可靠性存在显著的影响，在频率选择性衰落信道环境下研究了基于直序列码分多址（DS-CDMA）的无人机中继通信系统的航迹优化的问题。首先，给出了基于DS-CDMA的译码转发无人机中继通信系统的模型，并理论分析给出无人机中继通信系统的链路中断概率及平均误码率计算公式，以此为基础，基于链路中断概率最小化准则提出了中继无人机的航迹规划方法，最后通过仿真验证了所提出方法的正确性与有效性。研究表明：最大比值合并DS-CDMA无人机中继通信系统可充分获取频率选择性衰落信道提供的分集增益，显著改善链路传输的可靠性。     

基于网络计划的航空维修工作指派问题的运筹学研究

将运筹学理论中的匈牙利算法用于定检工作人力指派,以解决飞机定检工作中经常碰到的“工作数大于人数”的人员指派问题,对以运筹学思维助力飞机维修精益管理进行了有益的探索.     

一种基于自动相关信息四维运算的飞行间隔算法设计与实现

本文介绍了无人机（UAV：UnmannedAerialVehicle）航路规划的分层模式，提出了实时航路规划中四维接近算法，对UAV与静态和动态目标的接近距离进行了分析计算，为航路规划及时提供飞行过程中的危险接近信息，并进行了数字仿真。数字仿真表明：该算法具有较高的运算速度和较好预测精度，可快速提供UAV与周围静态和动...     

基于轨迹规划的飞机发动机数字化安装技术研究

提出了基于视觉的发动机数字化安装系统的设计方案,运用齐次坐标变换进行了发动机在笛卡尔空间的离线轨迹规划,阐述了基于图像低秩矩阵复原的发动机位姿测量算法,提出了基于视觉的发动机在线轨迹规划方法。进行了发动机安装试验,试验结果表明,这种新型的数字化安装技术具有很好的稳定性、高效性和精确性。     

飞机维修企业航材计划采购自动化体系研究

结合航材物流相关领域的可用技术,通过分析飞机维修企业航材计划采购流程中主要环节的自动化可行性,初步建立起一个通用的飞机维修企业航材计划采购自动化体系。     

某空空导弹发动机喷管制造技术

探讨了用不锈钢15-5PH焊接制造某空空导弹发动机喷管时的工艺路线、必要的工装及具体的控制变形的加工方法,保证了零件的质量.     

基于公司战略的LBDQ公司人力资源规划设计

以LBDQ公司的人力资源需求为研究对象,通过借鉴和研究LBDQ公司的内外部环境、企业自身发展战略以及对标企业,分析出LBDQ公司未来对关键人才的需求,最后从三个维度即企业发展战略、行业发展趋势和对标企业、业务发展规模得出LBDQ人力资源数量和结构的总体需求,进而通过总体需求得出基于战略的LBDQ公司人力资源规划设计,使人力资源工作更具有全局观和战略性,并配合公司的战略发展提供强有力的支持和人才保障。     

航空深弹投放模型及空中弹道仿真

以无动力航空自导深弹为研究对象,在分析反潜直升机攻潜过程的基础上,建立起反潜直升机应召攻潜航路规划模型,进而建立反潜直升机投放深弹模型,并利用Simulink对航空深弹空中弹道进行仿真,得出航空深弹入水的相关参数,为航空深弹作战使用提供理论参考。