Control of a Spherical Robot: Path Following Based on Nonholonomic Kinematics and Dynamics

This paper presents the controller design for the path following of a spherical mobile robot,BHQ-1.Firstly,a desired velocity for the reference path is deduced from the kinematic model,which cannot be transformed into the classic chained form.Secondly,a necessary torque for the desired velocity is obtained based on the dynamic model.As to the kinematics,a one-dimensional function is selected to measure the two-directional tracking error,and the velocity of rolling forward is reasonably assumed to be constant;therefore the multiple-input multiple-output (MIMO) system is transformed into a single-input single-output (SISO) system.As to the dynamics,both exact dynamics and inexact dynamics with modeling error as well as bounded unknown disturbance are taken into account,based on which a proportional-derivative (PD) controller and a sliding mode controller with adaptive parameters are proposed respectively.Finally,convergence analysis and simulation results are provided to validate these controllers.     

Cometary Deuterium

Deuterium fractionations in cometary ices provide important clues to the origin and evolution of comets. Mass spectrometers aboard spaceprobe Giotto revealed the first accurate D/H ratios in the water of Comet 1P/Halley. Ground-based observations of HDO in Comets C/1996 B2 (Hyakutake) and C/1995 O1 (Hale-Bopp), the detection of DCN in Comet Hale-Bopp, and upper limits for several other D-bearing molecules complement our limited sample of D/H measurements. On the basis of this data set all Oort cloud comets seem to exhibit a similar ratio in H₂O, enriched by about a factor of two relative to terrestrial water and approximately one order of magnitude relative to the protosolar value. Oort cloud comets, and by inference also classical short-period comets derived from the Kuiper Belt cannot be the only source for the Earth's oceans. The cometary O/C ratio and dynamical reasons make it difficult to defend an early influx of icy planetesimals from the Jupiter zone to the early Earth. D/H measurements of OH groups in phyllosilicate rich meteorites suggest a mixture of cometary water and water adsorbed from the nebula by the rocky grains that formed the bulk of the Earth may be responsible for the terrestrial D/H. The D/H ratio in cometary HCN is 7 times higher than the value in cometary H₂O. Species-dependent D-fractionations occur at low temperatures and low gas densities via ion-molecule or grain-surface reactions and cannot be explained by a pure solar nebula chemistry. It is plausible that cometary volatiles preserved the interstellar D fractionation. The observed D abundances set a lower limit to the formation temperature of (30 ± 10) K. Similar numbers can be derived from the ortho-to-para ratio in cometary water, from the absence of neon in cometary ices and the presence of S₂. Noble gases on Earth and Mars, and the relative abundance of cometary hydrocarbons place the comet formation temperature near 50 K. So far all cometary D/H measurements refer to bulk compositions, and it is conceivable that significant departures from the mean value could occur at the grain-size level. Strong isotope effects as a result of coma chemistry can be excluded for molecules H₂O and HCN. A comparison of the cometary ratio with values found in the atmospheres of the outer planets is consistent with the long-held idea that the gas planets formed around icy cores with a high cometary D/H ratio and subsequently accumulated significant amounts of H₂ from the solar nebula with a low protosolar D/H. This revised version was published online in June 2006 with corrections to the Cover Date.     

三元催化转化器在汽车尾气净化中应用

汽车尾气治理是当前我国环保部门和汽车行业一项十分迫切的任务，控制有害气体的排放，将有害气体转化为无害气体的有效措之一就是采用三元催化转化器，本文论述了三元催化转化器的原理及工作过程分析，构造，应用前景等。     

假设检验与CFD不确定度量化分析

针对CFD验证与确认中不确定度量化研究,提出了假设检验量化技术,采用了Grubs数据处理技术并具有好的鲁棒性,应用了假设检验原理分析了计算结果,可对CFD计算具指导作用,数值例子也说明了这一点。     

一种非线性规划的求解方法与燃气发生器的设计

阐述了一种新的非线性规划的求解方法。即对每个参变量在其可能变化区间内，按照特定的步长依次代入约束方程来观察是否满足约束条件，从而求得若干组可行解。变量变化的步长通过非线性方程组各个方程在近似结点的全微分的分析获得。步长的确定是本方法的关键。文中并示范性列举了本方法在燃气发生器设计中的作用。     

气膜冷却孔几何结构对流量系数的影响

为了研究火焰筒壁面气膜冷却孔几何结构对流量系数的影响规律，设计了几种具有不同几何尺寸和排列结陶的气膜冷却孔实验件。对气膜冷却孔的流量系数进行了实验研究。实验结果表明．在吹风比较小时．随吹风比的增加流量系数大幅度增加．当吹风比较大时，随吹风比的增加流量系数增幅减小。同时．在气膜孔厚径比大于1时，气膜孔的排列形式对流量系数的影响不大，当厚径比小于1时．叉排气膜孔的流量系数要高于顺排气膜孔的流量系数。     

角速率轰炸原理应用研究

介绍了角速率轰炸原理及其在某型飞机上的应用。并建立角速率轰炸的工作式，同时进行了火控轰炸的精度分析和仿真计算，为轰炸机装备角速率轰炸系统提供了依据。     

面向流场计算的专用超级计算机体系结构研究

 本文在对流体力学等一类大型计算问题的并行计算模型进行分析的基础上,提出了一种可以实现大规模并行处理的专用超级计算机体系结构方案。该系统由一台宿主机和一个多计算机阵列组成一台个人超级计算机。利用专用性,减小复杂性,提高并行性是系统的主要特色。系统采用二维超环结构作为计算机结点之间的互连结构,反映了计算中数据交换的局部性特点,具有好的通信性能。每个计算机结点本身又采用流水线向量处理结构,从而将高层次的多机并行与低层次的向量处理相结合,实现了大规模的并行计算。本文讨论了系统的软、硬件结构并研究和评价了通信性能。     

微型飞行器的仿生流体力学——昆虫前飞时的气动力和能耗

 用数值模拟方法研究了昆虫前飞时的气动力和需用功率。由N S方程的数值解提供速度场和压力场,从而得到涡量、气动力和力矩 (惯性力矩用解析方法计算 )。基于流场结构,解释了非定常气动力产生的原因;基于气动力和力矩,得到需用功率。悬停飞行中揭示出的 3个非定常高升力机制 (不失速机制,拍动初期的快速加速运动,拍动后期的快速上仰运动 )在前飞时仍然适用 (即使在快速前飞时,V∞ =2～ 2.5m/s,失速涡也不脱落 )。在低速飞行时 (V∞ ≈ 0.5m/s)平衡重量的升力既来自于翅膀的下拍运动也来自于上挥运动,并主要由翅膀的升力贡献;克服身体阻力的推力主要来自于翅膀的上挥运动,由翅膀的阻力贡献。在中等速度下 (V∞ ≈ 1.0m/s),升力主要来自于下拍运动,其中一半由翅膀升力贡献,一半由翅膀阻力贡献;推力主要来自上挥运动,也是一半由翅膀升力贡献,一半由翅膀阻力贡献。在快速飞行时 (V∞ ≈ 2.0m/s),升力主要来自于下拍运动,主要由翅膀阻力贡献;推力来自上挥运动,主要由翅膀升力贡献。悬停时,下拍和上挥做功同样大;前飞时,下拍做功较上挥大得多 :V∞ =0.5,1.0和 2.0m/s时,下拍做的功分别是上挥的 1.6,2.6和 3.5倍。     

分析有限大内部开裂板的复变-变分方法及其应用

 本文利用复交函数方法导出了含内部裂纹有限大板的应力及位移的全场解。用变分原理处理边界条件,求解了含中心裂纹、孔边裂纹、偏心裂纹有限大板的应力强度因子,并对用铆接加强环加固以后的孔边开裂板进行了分析和计算。算例表明,本方法收敛快,省机时。