欠驱动余度机械臂的非完整冗余特征研究

欠驱动技术在航天领域有重要应用价值。针对空间机器人系统,研究了欠驱动冗余度机械臂的"非完整冗余"特征和无碰撞路径最优运动规划方法。这种系统对于给定的机械臂末端位姿,其冗余特征不便通过传统意义上的运动学"自运动"来刻画,但是因机构自由度数大于工作空间维数,系统的冗余特征可通过动力学水平的控制体现出来。基于李雅普诺夫方法,提出一种欠驱动冗余度机械臂的无碰撞路径最优规划方法,揭示了这种机器人系统的"非完整冗余"特征,通过平面3连杆机械臂进行了仿真。     

机载SAR运动补偿技术研究

文中围绕机载SAR的运动补偿问题,对机载SAR运动误差的产生、运动误差对成像的影响以及运动补偿的实现等问题做大量探讨与仿真论证,并利用机载飞行试验的实测数据进行成像试验,验证运动补偿算法的有效性。     

Effects of eccentricity of the reference orbit on multi-tethered satellite formations

The paper discusses the relevance of eccentric reference orbits on the dynamics of a tethered formation, when a massive cable model is included in the analysis of a multi-tethered satellite formation. The formations examined in this study are hub-and-spoke (HAS) and closed-hub-and-spoke (CHAS) configurations for in-plane and Earth-facing spin planes. Stability of the formations is studied by means of numerical simulation, together with the evaluation of the effects of eccentricity on tether elongation, agents relative position, and formation orientation and shape.     

Research on parafoil stability using a rapid estimate model

With the consideration of rotation between canopy and payload of parafoil system,a four-degree-of-freedom (4-DOF) longitudinal static model was used to solve parafoil state variables in straight steady flight.The aerodynamic solution of parafoil system was a combination of vortex lattice method (VLM) and engineering estimation method.Based on small disturbance assumption,a 6-DOF linear model that considers canopy additional mass was established with benchmark state calculated by 4-DOF static model.Modal analysis of a dynamic model was used to calculate the stability parameters.This method,which is based on a small disturbance linear model and modal analysis,is high-efficiency to the study of parafoil stability.It is well suited for rapid stability analysis in the preliminary stage of parafoil design.Using this method,this paper shows that longitudinal and lateral stability will both decrease when a steady climbing angle increases.This explains the wavy track of the parafoil observed during climbing.     

关于初轨计算

初轨计算通常是指在二体问题意义下的短弧定轨,为了适应测量精度的提高和深空探测(包括月球探测)轨道器所涉及力学模型的需要,给出一种在测角资料背景下,同时适用于无摄和受摄运动的初轨计算方法。而且,该方法不仅适用于椭圆轨道,亦适用于双曲线轨道,拓宽初轨计算的传统范畴。     

Deramp range migration processing for space-borne spotlight synthetic aperture radar

The deramp range migration algorithm (DRMA) for space-borne spotlight synthetic aperture radar (SAR) is presented, which is based on the two-step algorithm and range migration algorithm. The presented algorithm combines the advantages of SPECAN algorithm and range migration algorithm. Firstly, the presented algorithm performs a bulk azimuth raw data compression to achieve a pixel spacing no larger than the expected azimuth resolution of the fully focused image. Therefore, the azimuth spectral folding phenomenon is overcome. Secondly, the residual and precise focusing of the synthetic aperture radar data is achieved by applying the range migration algorithm. The space-borne SAR focusing parameters’ computation is also described in the paper. At the end of this paper, results are presented which confirm the validity of the presented algorithm.     

光学遥感运动补偿压缩成像

针对单像素相机的运动导致压缩成像品质下降问题,提出了运动补偿压缩成像方法。首先建立运动条件下压缩采样的精确模型,进而分析了逐帧重构与联合重构两种图像稀疏方法。同时探讨了所提方法对于更加复杂运动的适应性以及所提方法成像品质的分布特性。该方法利用成像系统的运动信息重新规整压缩采样,避免了由降低积分时间或者减少采样数导致的成像品质下降。数学仿真与半物理仿真表明,运动补偿压缩成像比未经补偿成像结果具有更好的成像品质。     

超声悬浮乙醇液滴气动变形与运动特性研究

利用超声悬浮的方法为液滴提供静止、无接触初始条件,用高速摄影机拍摄液滴,研究不同直径乙醇液滴在Weber数5~90,脉冲气流冲击作用下的变形与运动特性。研究结果表明,随着韦伯数的增大,液滴先后产生常见的袋状破碎、袋状/蕊心破碎、羽状/液膜稀释破碎。不同破碎模式在本质上都是袋状破碎,包括边缘环袋破碎与液核多袋破碎。Weber数越大,边缘环袋破碎作用越弱,液核多袋破碎越占据主导地位。乙醇液滴的迎风面顶点纵向运动遵循匀加速规律,其无量纲位移与无量纲时间符合二次函数关系式。液滴在横向的扩散过程分为两个阶段：一个是惯性控制阶段;另一个是毛细效应控制阶段。液滴未破碎时,其横向扩展无量纲直径与上述无量纲位移符合二次函数关系式,而破碎后二次液滴的无量纲扩散直径与毛细时间则符合线性关系式。     

Pose measurement and motion estimation of non-cooperative satellite based on spatial circle feature

Malfunctioned satellites have seriously threatened orbital safety, and the capture of these satellites is of great significance. The pose measurement and the motion estimation of the tumbling satellite is the premise of capture. In this paper, the docking ring of the satellite is identified, which is equivalent to a spatial circle. Combined with the nozzle feature, the pose duality of the spatial circle can be eliminated. And the measurement accuracy is improved by minimizing the reprojection error of the docking ring and the nozzle. Due to the symmetry of the docking ring, the measured pose has only five degrees of freedom, losing the degree of freedom of rotation around the normal vector. In the motion estimation algorithm, the observability of the tumbling motion is firstly analyzed, then an error-state Kalman filter with inertia ratio constraints is designed. To improve the convergence speed and stability of the filter, a rough estimation algorithm of filter initial value based on linear term extraction and particle swarm optimization is proposed. The effectiveness of the pose measurement and motion estimation method is verified by simulations.     

Periodic acoustic source tracking using propagation delayed measurements

There exist a large class of acoustic sources which have an underlying periodic phenomenon. Unlike the well-studied Bearings-Only Tracking(BOT) of an aperiodic acoustic source,this paper considers the problem of tracking a periodic acoustic source. For periodic acoustic tracking, the signal emission time is known. However, the true measurement reception time is unknown because it is corrupted by noise due to propagation delay. We augment the sensor’s signal reception time onto bearing measuremen...