基于姿态可操作度的机械臂尺寸优化方法

为解决机械臂尺寸优化设计问题,首先定义了表征灵活性的数值指标——姿态概率系数,即指定工作点上可行样本姿态与所取样本姿态之间的比值;之后根据姿态概率系数提出了姿态可操作度概念,它表征了机械臂在工作空间上的整体可操作性.在此基础上,提出了机械臂尺寸优化方法.该方法在机械臂原有结构设计的基础上,以机械臂自身无碰撞为约束条件,以姿态可操作度的倒数为适应度函数,利用遗传算法优化机械臂的尺寸参数,使优化后机械臂的可操作性最优.以六自由度(DOF)机械臂为例的优化结果表明:优化后机械臂姿态可操作度提高了40.33%.最后利用灵活性工作空间图进一步验证了算法的有效性,并讨论了姿态概率系数对优化结果的影响.      

打造“航空”品牌,走产学研相结合的融合式发展之路

校企合作是工学结合人才培养模式运行的基础,也是职业教育发展的必由之路,是企业获取新的发展和参与社会竞争的必然选择。长沙航空职业技术学院(以下简称学院)经过多年的探索和多方调研,明确了在办学中应始终坚持以服务为宗旨,以就业为导向,走产学研相结合的融合式发展道路。积极推进与航空修理系统的融合、与航空修理企业的对接,建立健全融合式发展机制,通过融合式发展大力推进专业结构优化和专业布局调整、人才培养模式改革、以专业建设为重点的教学建设、以"双师素质"培养为核心的师资队伍建设、教学现场管理星级评价体系建设和民航CCAR-147部的申报评审。     

中国无地面控制点摄影测量卫星追述（二）--1∶1万传输型摄影测量卫星技术思考

以1∶1万传输型摄影测量卫星工程有效载荷配置为基础,分析了传输型测绘卫星中影响定位精度的误差源,提出了激光测距数据辅助两线阵卫星影像处理的若干思路,并进行了模拟仿真试验。试验结果表明：利用激光测距数据参与两线阵影像光束法平差,能有效改善航线模型系统变形,并保持较小的上下视差,可满足卫星影像无地面控制点条件下1∶1万高精度定位要求。     

定向片模型描述的“天绘一号”卫星影像区域网平差

针对三线阵相机的成像特点,文章利用卫星辅助数据建立了"天绘一号"卫星三线阵影像的严密成像模型,在常规定向片模型描述外方位元素变化特征的基础上,考虑定向片间的连续平滑制约条件,并将其引入摄影测量光束法平差中,从而构建"天绘一号"卫星三线阵影像光束法平差模型,最后利用真实影像数据进行实验验证。结果表明,在一定数量地面控制点参与条件下,合适的定向片数目选取并顾及定向片间的连续平滑制约条件,检查点能够达到平面方向约为1.5个像元、高程方向优于1个像元的定位精度,验证了该文所建模型的正确性和有效性。     

Impact of Jason-2/T2L2 Ultra-Stable-Oscillator Frequency Model on DORIS stations coordinates and Earth Orientation Parameters

Doppler Orbitography and Radiopositioning Integrated by Satellite (DORIS) is a tracking technique based on a one-way ground to space Doppler link. For Low Earth Orbit (LEO) satellites, DORIS shows a robust capability in terms of data coverage and availability, due to a wide and well-distributed ground network, where data are made available by the International Doris Service (IDS). However, systematic errors remain in the DORIS data, such as instabilities of the on-board clock due to radiation encountered in space, which limit the accurate determination of station positions.The DORIS on-board clock frequency stability is degraded by the increased radiation found in the region of the South Atlantic Anomaly (SAA) and has been shown to degrade station position estimation. This paper introduces a new model correction to the DORIS data for the frequency of the Jason-2 Ultra Stable Oscillator (USO), derived from the Time Transfer by Laser Link (T2L2) experiment (Belli and Exertier, 2018). We show that a multi-satellite DORIS solution including this T2L2-corrected data applied to the frequency modelling for The DORIS data, improves the estimation of station coordinates. We show the tie residuals with respect to collocated GPS stations are improved by several millimeters. We also demonstrate that the 117-day (Jason-2) draconitic signal in the geophysical parameters is reduced, implying that the origin of this signal is not just solar radiation pressure mis-modeling, but also radiation-induced clock perturbations on the Jason-2 DORIS Ultra-Stable-Oscillator (USO). Finally we demonstrate through comparisons with the International Earth Rotations and Reference Systems Service (IERS) C04 series for Earth Orientation Parameters (EOP), that the estimation of EOP is improved in both a Jason-2 DORIS-only and a multi-satellite DORIS solution for EOP.     

PREDICTION OF MECHANICAL PROPERTY OF WHISKER REINFORCED METAL MATRIX COMPOSITE: PART-I. MODEL AND FORMULATION

Whisker reinforced metal matrix compositespossess good transverse strength,low cost,high workability and other properties over unre-inforced alloys.They are applied increasingly inaerospace,automotive,electronics,sportinggoods and many other areas.Creation of thosecomposites has led to the development of newtest methods,manufacturing techniques,predic-tion theory and design practices[1,2 ] .　　The pioneer works on prediction of the elas-tic moduli of composite were traced back toVoigt[3] and …     

反潜直升机缆位缆高控制系统实时仿真研究

通过反潜直升机吊放声纳控制系统的半实物实时仿真系统研究,建立了半实物仿真的结构和直升机与缆 数学模型,进行了相关硬件设备的研制,并编写了实时仿真软件,进行降多种条件下的半实物实时仿真研究工作。通过仿真验证了直升机上的吊放声纳飞行控制系统满足性能指标要求,仿真结果同最后实飞空测结果保持了一致。     

单晶高温合金持久性能各向异性分析

为阐述单晶高温合金持久性能各向异性规律,收集了Mar-M247、RR2000、DD6、PWA1484、CMSX-2、CMSX-4、Alloy454与SC7-14合金的持久寿命数据,调研文献探索其影响因素,总结了近〈001〉取向小角偏离对持久寿命的影响,研究晶体取向与持久寿命间的关系,定量分析了温度对持久性能各向异性的影响。结果显示: {111}〈112〉滑移系的“位错滑移”与“晶格转动”是中低温下(760~850 ℃)单晶合金持久性能各向异性的重要原因;偏角相同的条件下,靠近“［001］~［011］”边界的近〈001〉取向持久性能相对优异;不同牌号单晶合金持久性能各向异性规律不同,不存在恒定的“持久性能最优取向”;随着温度升高,晶体取向对持久性能影响减弱,针对DD6与CMSX-4合金,高温下(大于950 ℃)可用〈001〉热强综合参数曲线评估〈011〉与〈111〉取向的持久强度。      

Wayfinding Through Orientation

Dominant approaches in computer-assisted wayfinding support adhere to the deeply problematic principles of turn-by-turn navigation. In this article, we suggest a new approach called “Wayfinding Through Orientation,” which supports the acquisition of spatial knowledge and cognitive mapping for advancing the user’s spatial orientation. Being oriented on one’s way is a prerequisite to enabling people to verify instructions and to incorporate new spatial information into their existing knowledge structure. In three studies described in this article we first present empirical evidence that people can be supported in survey knowledge acquisition through suitable wayfinding instructions. Consequently, we explore orientation information in human wayfinding instructions. Finally, we outline how orientation information can be communicated within a prototypically implemented navigation assistance system.     

一种空间目标高精度指向控制方法

针对空间动目标指向任务对卫星提出的高精度控制需求,研究了卫星星体/快反镜二级复合系统的指向控制问题,给出了一种空间运动目标高精度指向控制方法。首先,基于近圆轨道Clohessy Wiltshire方程获得追踪卫星与目标卫星的位置信息;然后,基于扩展Kalman滤波算法进行多信息融合确定追踪卫星姿态参数,并实时解算出追踪卫星载荷光轴与目标卫星的相对姿态,获得跟踪指向所需的方位角和俯仰角;最后,通过星体一级姿态控制和基于快反镜的载荷光轴二级指向控制,实现对目标卫星的快速、高精度指向。仿真结果表明,该方法可以在保证快速性的同时实现动态指向控制误差小于072″。该方法可以实现对空间目标的高精度指向控制,为未来空间中激光通信等航天任务提供技术支持。