多个自由飞行空间机器人协调操作运动规划

本文提出了在空间微重力环境下多个自由飞行空间机器人协调操作运动规划算法，首先推导出多个自由飞行空间机器人协调操作的广义雅可比矩阵，其次给出了基于该矩阵的多个自由飞行空间机器人协调操作分解运动速度控制算法，最后用计算机仿真验证了该算法的正确性。     

Motion prediction of a non-cooperative space target

Capturing a non-cooperative space target is a tremendously challenging research topic. Effective acquisition of motion information of the space target is the premise to realize target capture. In this paper, motion prediction of a free-floating non-cooperative target in space is studied and a motion prediction algorithm is proposed. In order to predict the motion of the free-floating non-cooperative target, dynamic parameters of the target must be firstly identified (estimated), such as inertia, angular momentum and kinetic energy and so on; then the predicted motion of the target can be acquired by substituting these identified parameters into the Euler’s equations of the target. Accurate prediction needs precise identification. This paper presents an effective method to identify these dynamic parameters of a free-floating non-cooperative target. This method is based on two steps, (1) the rough estimation of the parameters is computed using the motion observation data to the target, and (2) the best estimation of the parameters is found by an optimization method. In the optimization problem, the objective function is based on the difference between the observed and the predicted motion, and the interior-point method (IPM) is chosen as the optimization algorithm, which starts at the rough estimate obtained in the first step and finds a global minimum to the objective function with the guidance of objective function’s gradient. So the speed of IPM searching for the global minimum is fast, and an accurate identification can be obtained in time. The numerical results show that the proposed motion prediction algorithm is able to predict the motion of the target.     

航天器分裂体或抛射物的轨道形成和演化

由卫星和碎片爆炸或相互间碰撞所产生的分裂体,或由在轨航天器向外抛射所产生的抛射物,对空间环境的影响正日益增大。对它们轨道形成和演化的研究可以为分析空间解体事件提供一种有效方法。本文利用Kep-ler运动积分以及受摄二体问题的分析解,建立了分裂体或抛射物的轨道形成及其演化与分裂或抛射速度之间的关系,从而为理解以各个方向、不同大小的速度分裂或抛射的物体的轨道演化特征提供理论依据。文章最后通过数值验证表明了该方法的有效性。     

Real-time trajectory planning for UCAV air-to-surface attack using inverse dynamics optimization method and receding horizon control

This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle (UCAV) performing autonomous air-to-surface (A/S) attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem (RHC-OCP). In particular, an approximate elliptic launch acceptable region (LAR) model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom (2-DOF) receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.     

Z-pin自动植入数控系统研制及性能研究

为实现Z-pin的数控自动植入,以可编程多轴控制器PMAC作为运动控制的核心、附卡控制辅助开关量,设计了基于开放式数控系统的X-cor芯材成型专用CNC硬件体系。试制了多种规格的X-cor夹层结构试样,分别研究了Pin直径、Pin植入角以及Pin分布密度等参数对X-cor夹层结构压缩性能、剪切性能的影响。结果表明,Pin可以大幅度提高X-cor夹层结构的压缩性能,同时提高了断裂韧性。     

基于凌阳16位单片机SPCE061A悬挂运动控制系统

以凌阳16位单片机SPCE061A为控制核心，通过所需运动轨迹曲线的参数方程建立运动控制模型，按照算法对两组驱动步进电机进行控制，实现了悬挂画笔在给定的范围内的定点运动、任意曲线运动以及圆心可任意设定的圆周运动等功能，不仅完成了要求发挥的部分功能，同时还增加了语音播放功能。     

关于地球卫星运动中的坐标系附加摄动问题

关于卫星运动中的坐标系附加摄动，早期是从两种赤道坐标系中卫星轨道根数的差别采用大量球面三角公式的方法导出的，本文将改用与当今高精度数值解中的坐标转换关系，在岁差章动等参数完全一致的情况下，简要清晰地导出相应的坐标系附加摄动解，既容易被读者接受，又便于与对应的数值解进行比对。     

基于小波域的分形图像压缩

在分析产生块效应原因基础上,定义了一种度量块效应的客观方法.为了消除传统分形图像压缩中产生的块效应,提出先将原图像变换到小波域,再进行分形压缩.这种方法既继承了传统分形图像压缩的编码原理,又利用了小波变换的优良特性,从而取得了更好的压缩效果.此外,根据小波系数的能量分布特征,提出了一种加快相似匹配的方法.     

面向飞机蒙皮对缝的移动机器人自主跟踪方法

提出一种面向飞机蒙皮对缝的移动机器人自主跟踪方法,用以解决大型蒙皮上表面装配对缝的自动化测量问题.移动机器人包括对缝测量模块和运动控制模块,对缝测量模块在测量对缝间隙阶差的同时得到机器人相对于对缝的位姿,运动控制模块控制机器人自主调姿.基于双线结构光与对缝的相对位置关系,提出机器人在不同情况下的自主调姿方法,解决了机器...     

一种视频SAR运动目标成像算法

视频合成孔径雷达ViSAR(Video Synthetic Aperture Radar)成像模式与传统SAR成像模式不同,此模式需要持续监测目标区域.通过子孔径划分的方法将目标区域的回波划分孔径,然后针对每一个划分后的子孔径进行单独成像和配准,最后把每一帧图像进行处理形成视频,利用序列图像形成的视频去提取目标的运动信...