基于多项式插值的自由漂浮空间机器人轨迹规划粒子群优化算法

针对自由漂浮空间机器人轨迹规划问题,提出一种基于多项式插值与粒子群优化算法相结合的非完整运动规划方法。首先,通过对系统非完整约束条件进行分析,给出了以机械臂关节角耗散能为目标函数的轨迹最优控制算法;并采用高阶多项式插值方法逼近机械臂关节角轨迹,将插值多项式的系数作为优化参数,结合粒子群优化算法对关节角轨迹进行优化求解。最后,对本文提出的轨迹规划算法进行数值仿真。仿真结果表明关节角轨迹平滑连续,保证了关节角速度及关节角加速度在初始和终止状态均为零,从而验证了所提方法的有效性和可行性。     

电磁式跟踪器磁场畸变的姿态校正技术

电磁式跟踪器可以测量物体的位置和姿态,但其测量精度也容易受金属环境干扰。本文根据电磁跟踪器的工作原理,给出了电磁式跟踪器姿态校正的模型,讨论了两种不同的姿态校正实现方法:插值法和拟合法,比较了两种方法的优缺点。最后,对某一金属环境进行了畸变姿态校正的试验,给出了3个不同的姿态实际值和在此金属环境下的畸变和校正结果。试验结果表明本文提出的姿态校正算法能很好地补偿金属环境引起的电磁式跟踪器姿态的畸变。     

Numerical studies of static aeroelastic effects on grid fin aerodynamic performances

The grid fin is an unconventional control surface used on missiles and rockets. Although aerodynamics of grid fin has been studied by many researchers, few considers the aeroelastic effects.In this paper, the static aeroelastic simulations are performed by the coupled viscous computational fluid dynamics with structural flexibility method in transonic and supersonic regimes. The developed coupling strategy including fluid–structure interpolation and volume mesh motion schemes is based on radial basis functions. Results are presented for a vertical and a horizontal grid fin mounted on a body. Horizontal fin results show that the deformed fin is swept backward and the axial force is increased. The deformations also induce the movement of center of pressure, causing the reduction and reversal in hinge moment for the transonic flow and the supersonic flow,respectively. For the vertical fin, the local effective incidences are increased due to the deformations so that the deformed normal force is greater than the original one. At high angles of attack, both the deformed and original normal forces experience a sudden reduction due to the interference of leeward separated vortices on the fin. Additionally, the increment in axial force is shown to correlate strongly with the increment in the square of normal force.     

Synergistic use of multitemporal RAMP,ICESat and GPS to construct an accurate DEM of the Larsemann Hills region,Antarctica

An enhanced digital elevation model (DEM) of the Larsemann Hills region, east Antarctica, is constructed synergistically by using highly accurate ground-based GPS measurements, satellite-derived laser altimetry (GLAS/ICESat) and Radarsat Antarctic Mapping Project (RAMPv2) DEM-based point elevation dataset. Our DEM has a vertical accuracy of about 1.5 times better than RAMPv2 DEM and seven times better than GLAS/ICESAT-based DEM. The accuracy is improved by validating the RAMPv2 DEM elevation by supplementing with GLAS/ICESat and DGPS survey data, when compared to that of DEM constructed by using GLAS/ICESat or RAMPv2 alone. With the use of accurate GPS data as ground control points reference elevations, the DEM extracted is much more accurate with least mean RMSE of 34.5 m than that constructed by using a combination of GLAS/ICESat and RAMPv2 as true reference. The newly constructed DEM 7 achieves highest accuracy with the least average elevation difference of 0.27 m calculated using 46 ground reference points. Available DEMs of Antarctic region generated by using radar altimetry and the Antarctic Digital Database indicate elevation variations in the range of 50–100 m, which necessitates the generation of local DEM and its validation by using ground truth. This is our first attempt of fusing multi-temporal, multi-sensor and multi-source elevation data to generate a DEM of any part of Antarctica, in order to address the ice elevation change to infer the ice mass balance. Our approach focuses on the strengths of each elevation data source to produce an accurate DEM.     

超精密车床数控系统软件的研制

介绍了HCM-I型超精密车床数控系统软件的功能及工作流程．详细分析了数控系统软件的关键技术，给出了相应技术的软件流程图.     

桥联重积分方程一种新的数值方法

纤维增强复合材料断裂力学中的桥联问题常常可归结为一个二重积分方程。常见的求解方法有矩阵迭代法和积分迭代法，但这两种方法都产复杂。本文给出一种新的分段插值方法，对此积分方程进行求解。数值计算结果表明，该方法效果令人满意。     

CNC装置中软件精插补器的研究

在分析了当今广泛用于CNC装置的软、硬件两级插补控制机理的基础上,对用软件实现精插补控制的可行性进行了分析,并进行了试验验证.     

十二通道GPS信号发生器方案研制

为了测试GPS(全球定位系统)接收机的性能,需要应用GPS信号模拟器来模拟各种条件下真实的GPS信号.分析了单通道与多通道GPS信号的时域及频域特性,建立了十二通道GPS信号模拟器的数学模型.该模型应用了软件无线电的设计思想和内插理论,可以直接产生35.42MHz的中频信号,以降低硬件设计的复杂度.文中用SystemView软件的仿真结果验证了系统设计的可行性,并提出了该系统的硬件实现.      

Aeroacoustic and aerodynamic optimization of propeller blades

It is of great significance to develop a high-efficiency and low-noise propeller optimization method for new-generation propeller aircraft design. Coupled with free form deformation method, dynamic mesh interpolation technology, optimization algorithm, surrogate model, aerodynamic calculation and aeroacoustic prediction model module, the integrated aerodynamic and aeroacoustic design method of propeller is built. The optimization design for the six-blade propeller is carried out. The non-reduction in efficiency, thrust coefficient and the minimum of aerodynamic noise is treated as the optimization design objective. The spatial vorticity distribution of the propeller before and after the design is also analyzed by using unsteady computational fluid dynamics method. The results show that the optimized propeller can effectively reduce the aerodynamic noise level. The maximum total sound pressure level can be reduced by 5 dB without reducing its aerodynamic performance. The developed method has good application potential in low-noise optimization design of propeller and other rotating machinery.     

一种频域插值变化迭代频率估计方法

针对现有频率估计算法存在的复杂度高、频率估计能力弱、估计结果均方差大等缺点,在固定迭代AM（Aboutanios—Mulgrew）无偏频率估计算法基础上,提出一种频域插值变化迭代频率估计算法,推导了不同迭代参数实现无偏估计的充分条件,证明了有偏估计时本算法的收敛性和偏离度,通过设置不同迭代参数,可以实现无偏或有偏估计。仿真分析表明：当具有较高信噪比时,在整个频率估计范围内,该方法均方误差接近CRLB（Cramer-RaoLowerBound,克拉美一罗下限）;当FFT（FastFourierTransform,快速傅里叶变换）粗估计残余频率接近0．5时,该方法的均方误差优于CRLB,为CRLB的96％。