机器人系统跟踪控制的一种新策略

 本文研究了多个机器人完成某物体的跟踪问题。提出了一种“主辅型”控制策略。这种控制策略具有自组织性质,它自动地解决了机器人系统控制的不唯一性、自相矛盾的可能性,保证了各机器人间的合作与谐调。仿真结果表明跟gr误差极小。     

一种飞机结构修理胶粘剂性能分析

针对飞机结构修理过程中常用胶粘剂的固化温度高、固化时间长、固化热应力大的问题,以环氧树脂为基本配料,通过添加丁腈橡胶增强胶粘剂的韧性,添加固化剂和硅烷偶联剂缩短固化时间.剪切试验表明,该胶粘剂在80C下经90min固化后剪切强度可达到35MPa,可满足飞机结构损伤平时修理和应急修理的要求.     

用人工智能搜索策略进行抗疲劳优化设计

 将人工智能搜索策略应用于抗疲劳优化设计中,针对工程实际中大量存在的离散变量的优化问题,提出了一套不同于传统数学规划法的方法,从根本上解决了处理离散变量的困难。还以多钉多层板接头为算例,作了优化计算,说明本文提出的方法可行,计算程序适用。并且优化结果比数学规划法好。     

基于改进人工蜂群算法的多值属性系统故障诊断策略

针对实际工程应用中常见的多值属性系统故障诊断策略问题,在传统人工蜂群算法(Artificial Bee ColonyAlgorithm,简称 ABC算法)的基础上,提出改进蜂群算法用于多值属性系统的测试序列寻优。首先,在蜂群算法中重新定义多值 D矩阵和五元组的含义;其次,引入方向信息概率矩阵,设置状态转移规则和矩阵元素更新策略;最后,采用导弹舵系统实例说明算法的实现过程和有效性。最终测试序列寻优结果表明:与传统的多值 Rollout算法相比,文中所提算法能得到较好的诊断策略结果,具有一定的应用价值。     

Distributed online mission planning for multi-player space pursuit and evasion

There are three important roles in evasion conflict: pursuer, target and defender. Pur-suers’ mission is to access targets;targets’ mission is to escape from pursuers’ capture;defenders’ mission is to intercept pursuers who are potentially dangerous to targets. In this paper, a distributed online mission plan (DOMP) algorithm for pursuers is proposed based on fuzzy evaluation and Nash equilibrium. First, an integrated effectiveness evaluation model is given. Then, the details of collaborative mission planning which includes the co-optimization of task distributing, trajectory and corresponding maneuvering scheme are presented. Finally, the convergence and steadiness of DOMP are discussed with simulation results. Compared with centralized mission planning, DOMP is more robust and can greatly improve the effectiveness of pursuing. It can be applied to dynamic scenario due to its distributed architecture.     

Human and robotic repair of a solar array wing during ISS assembly mission 10A

With the installation of a new module and the relocation of three other modules, including multiple hand-offs from the station arm (SSRMS) to the shuttle arm (SRMS), International Space Station (ISS) assembly mission 10A/STS-120 was anticipated to be one of the most complicated ISS assembly missions ever attempted. The assembly operations became even more complex when a solar array wing (SAW) on the relocated Port-6 (P6) truss segment ripped while being extended. Repairing the torn SAW became the single most important objective for the remainder of STS-120, with future ISS assembly missions threatened by reduced power generation capacity if the SAW could not be repaired. Precise coordination between the space shuttle and ISS robotics teams led to an operational concept that combined the capabilities of the SRMS and SSRMS robotic systems in ways far beyond their original design capacities. Benefits of consistent standards for ISS robotic interfaces have been previously identified, but the advantages of having two such versatile and compatible robotic systems have never been quite so spectacular. This paper describes the role of robotics in the emergency SAW repair and highlights how versatility within space robotics systems can allow operations far beyond the intended design scenarios.     

航空公司航线重组探讨

三大航空集团成立后，合理地调整航线成为企业再生产的基础。航线资源的重组要符合航空公司经营策略，即低成本策略、差异策略还是集中一点策略。在分析经营战略特点的基础上．研究了航线重组的策略。每种策略都要本着提高航线网络的质量和航班效率的原则。     

An object-level strategy for pan-sharpening quality assessment of high-resolution satellite imagery

Current satellite imaging systems offer a trade-off between high spatial and high spectral resolution providing panchromatic images at a higher spatial resolution and multispectral images at a lower spatial resolution but rich in spectral information while a wide range of applications need the highest level of this information, simultaneously. Image fusion techniques as means of enhancing the information content of initial panchromatic and multispectral images produce new images, titled pan-sharpened, which inherent the advantages of the initial images. Considering the impact of fusion accuracy on the quality of corresponding applications, it is necessary to evaluate the quality of these processed images. During the last decade, a lot of quality evaluation metrics have been proposed which are mostly inspired by traditional image quality metrics. These methods are mostly based on applying quality metrics at the pixel level and evaluating final quality value based on averaging of obtained metric values through the whole image. However, obtained results clearly show that the behaviour of image fusion quality is inconsistent amongst different image objects. In this article, by applying image fusion quality metrics (IFQMs) to image objects, an object-level strategy for quality assessment of the image fusion process is proposed. The proposed strategy is applied to different satellite imagery covering residential and agricultural areas. Experimental results show higher capabilities of object-level quality assessment strategy in the quality assessment of the fusion process. Evaluating fusion quality at the object level provides the potential of fusion quality assessment for each individual image object in compliance with different parameters such as the type of objects and the effective size of objects in data set.     

基于VxWorks的空调系统控制软件设计

基于Vx Works软件环境,针对空调系统工作模式多、工作模式之间逻辑复杂等特点开发了空调系统的控制软件。将系统的功能按照任务优先权行划分,并采用状态转换机实现的模式间的转换。通过Tornado软件调试环境,对软件设计进行了修改和完善,保证了空调系统软件的正确性。     

Efficiency optimized fuel supply strategy of aircraft engine based on air-fuel ratio control

Accurate fuel injection control of aircraft engine can optimize the energy efficiency of UAV power system while meeting the propeller speed requirement. Traditional injection control method such as open-loop calibration causes instability of fuel supply which brings the risk of power loss of UAV. Considering that the closed-loop control of AFR can ensure a stable fuel feeding, this paper proposes an AFR control based fuel supply strategy in order to improve the efficiency of fuel-powered UAV while obtaining the required engine speed. According to the optimum fuel injection results, we implement fuzzy-PID method to control the set AFR in different situations. Through simulation and experiment studies, the results indicate that, to begin with, the calibrated mathematical model of the aircraft engine is effective. Next, this fuel supply strategy based on AFR control can normally realize the engine speed regulation, and the applied control algorithm can eliminate the overshoot of AFR throughout all the working progress. What is more,the fuel supply strategy can averagely shorten the response time of the engine speed by about two seconds. In addition, compared with the open-loop calibration, in this work the power efficiency is improved by 9% to 33%. Last but not the least, the endurance can be improved by 30 min with a normal engine speed. This paper can be a reference for the optimization of UAV aircraft engine.