多臂协调操作自由飞行空间机器人的位置和内力混合控制

基于多臂自由飞行空间机器人多臂协调操使负载沿着期望的轨迹运动并且控制负载所受的内力为目的，在多臂自由飞行空间机器人系统协调操作的动力学方程基础上，推导了各个机械臂协调操作负载按期望轨迹运动时各个机械臂关节的驱动力矩的计算方法；给出了作用在负载的内力的定义，根据关节力矩计算方法和PID反馈控制原理，建立了多臂自由飞行空间机器人协调操作负载时的位置和内力的控制算法；讨论了所提出的控制算法的稳定性问题，得到了负载的位置误差和内力误差的约束条件。通过仿真实验证明该控制算法能够使负载的实际位姿和内力收敛到期望的轨迹和内力。     

分布式小卫星SAR系统GMTI模式构形优化

对分布式小卫星SAR系统地面动目标检测GMTI模式的研究目前正处于广泛探索阶段。如何评价一个分布式卫星系统的GMTI能力，编队构形对GMTI到底有怎样的影响，怎样设计编队使系统GMTI能力最强等问题是文章讨论的内容。从盲速比例的角度出发，提出对系统的GMTI功能进行衡量的定量指标，分析编队构形方式对该指标的具体影响，寻找GMTI模式下可能的编队优化方法。     

高温存储对Sn-Pb-Ni凸点界面金属间化合物生长的影响

倒装焊工艺由于具有信号处理速度快、封装密度高、可靠性高等特点,已广泛应用于高密度集成电路封装工艺中。高可靠倒装焊器件的互连焊点通常采用10Sn90Pb等高铅焊料,该焊料具有剪切强度高、可靠性高等优点,但其熔点高、回流工艺窗口窄等特性给封装工艺带来一定难度,此外该焊料在高温存储环境的可靠性有待进一步提高。本文采用Ni元素对10Sn90Pb焊料进行改性,研究高温存储下Sn-Pb-Ni体系凸点的力学性能以及金属间化合物（Intermetallic compound,IMC）的生长演变规律,以此评估Ni元素对10Sn90Pb凸点可靠性的影响。主要结果如下：适量添加Ni元素可以细化10Sn90Pb焊点界面处IMC晶粒,降低高温存储条件下的IMC生长速度,但在一定程度上会降低凸点的剪切强度。0.05%~0.1%含量的Ni元素添加对10Sn90Pb凸点综合性能提升较为显著。     

Reconfigurable Flight Control Design for Combat Flying Wing with Multiple Control Surfaces

With control using redundant multiple control surface arrangement and large-deflection drag rudders,a combat flying wing has a higher probability for control surface failures.Therefore,its flight control system must be able to reconfigure after such failures.Considering three types of typical control surface failures(lock-in-place(LIP),loss-of-effectiveness(LOE) and float),flight control reconfiguration characteristic and capability of such aircraft types are analyzed.Because of the control surface redundancy,the aircraft using the dynamic inversion flight control law already has a control allocation block.In this paper,its flight control configuration during the above failures is achieved by modifying this block.It is shown that such a reconfigurable flight control design is valid,through numerical simulations of flight attitude control task.Results indicate that,in the circumstances of control surface failures with limited degree and the degradation of the flying quality level,a combat flying wing adopting this flight control reconfiguration approach based on control allocation could guarantee its flight safety and perform some flight combat missions.     

绳系卫星部署阶段的动力学分析

绳系卫星系统部署阶段末时刻状态决定着其编队飞行的初始状态，为了研究不同因素对绳系卫星系统部署阶段运动的影响，本文建立了一种简单的平面哑铃模型，将系绳视作有阻尼的弹簧，两个卫星视作刚体，考虑重力梯度力矩。通过仿真，发现系绳释放的速度和副星推力是影响绳系卫星系统部署阶段稳定性的主要因素。     

基于量子行为鸽群优化的无人机紧密编队控制

随着军事、民用需求的提高和相关领域的技术推动，无人机编队协同作业已成为当今人们逐渐关注的焦点。无人机紧密编队是指无人机间侧向距离在1~2倍翼展内的编队，因其可有效改善编队中无人机的气动性能而备受瞩目。基于无人机紧密编队条件下的气动耦合效应，建立三维空间下的状态空间方程描述双机相对运动，并推导了紧密编队条件下的双机最优编队构型，在此构型下将人工势场法和编队控制相结合作为控制系统中的间接控制环，并针对基本鸽群优化算法的寻优缺陷利用量子行为规则对其进行改进，将改进后的鸽群优化算法和无人机控制量结合作为控制系统中的直接控制环，最后通过仿真对比验证了此控制系统对于紧密编队控制的有效性。     

立方体星的技术发展和应用前景

系统论述了立方体星技术发展的三个阶段;从2010-2013年已成功发射的立方体星与纳卫星中挑选了10颗典型卫星,研究分析其技术水平、应用价值和特点优势;并重点论述了立方体纳卫星的应用;最后预测了立方体纳卫星的未来应用前景。     

Diversity of Comets: Formation Zones and Dynamical Paths

The past dozen years have produced a new paradigm with regard to the source regions of comets in the early solar system. It is now widely recognized that the likely source of the Jupiter-family short-period comets (those with Tisserand parameters, T > 2 and periods, P, generally < 20 years) is the Kuiper belt in the ecliptic plane beyond Neptune. In contrast, the source of the Halley-type and long-period comets (those with T < 2 and P > 20 years) appears to be the Oort cloud. However, the comets in the Oort cloud almost certainly originated elsewhere, since accretion is very inefficient at such large heliocentric distances. New dynamical studies now suggest that the source of the Oort cloud comets is the entire giant planets region from Jupiter to Neptune, rather than primarily the Uranus-Neptune region, as previously thought. Some fraction of the Oort cloud population may even be asteroidal bodies formed inside the orbit of Jupiter. These comets and asteroids underwent a complex dynamical random walk among the giant planets before they were ejected to distant orbits in the Oort cloud, with possible interesting consequences for their thermal and collisional histories. Observational evidence for diversity in cometary compositions is limited, at best. This revised version was published online in June 2006 with corrections to the Cover Date.     

手工计划模拟CDA燃油的节省

飞机在飞行中,普遍采用的阶梯下降程序,这需要航空器频繁改变推力、增加下降角度和调整高度,这样加大了飞行员和管制员的工作压力,同时对最后阶段飞行的油量也有增加。通过对连续下降进近（CDA）的现状进行分析,给出连续下降进近相对传统进近方式的优势,并结合航空公司手工飞行计划制作的方法及原理对连续下降进近在最后阶段飞行时间和燃油方面的节约进行验证。     

Periodic relative orbits of two spacecraft subject to differential gravity and electrostatic forcing

Coulomb forces between charged close-flying satellites can be used for formation control, and constant electric potentials enable static equilibria solutions. In this work, open-loop time-varying potential functions, which produce periodic, two-craft, Coulomb formation motions are demonstrated for the first time. This is done in the rotating Hill-Frame, with linearized gravity, and craft position components assumed in the form of simple harmonic oscillators. Substitution of the oscillatory functions into the dynamics, further constrains these functions, and yields necessary potential histories, to produce the periodic flow. The assumed position functions, however, are not arbitrary, since the dynamical model restricts what oscillatory trajectories are allowed. Specifically, a Hill-Frame integral of motion is derived, and this is used to show certain candidate periodic functions to be inadmissible. The system dynamics are then linearized to expose stability properties of the solutions, and it is established that asymptotic stability is impossible for all orbit families. Finally, the degree of instability in the assumed motions, over free parameter ranges, is determined numerically via the Floquet multipliers of the associated full-cycle state-transition matrices.