基于高斯过程的机器人自适应抓取策略

在机器人抓取作业时,目标物体的位姿经常发生变化。为了使机器人在运动过程中能够适应物体的位姿变化,提出了一种基于高斯过程的机器人自适应抓取策略。该方法建立了从观测空间到关节空间的映射,使机器人从样本中学习,省去了机器人视觉系统的标定和逆运动学求解。首先,拖动机器人抓取物体,记录物体的观测变量和机器人的关节角度;然后,利用记录的样本训练高斯过程模型,实现观测变量和关节角度的关联;最后,当得到新的观测变量时,通过训练的高斯过程模型得到机器人的关节角度。经过训练后,UR3机器人成功抓取了物体。     

大型客机后缘襟翼滑轨整流罩气动外形设计方法

大型客机后缘襟翼机构伸出机翼下表面会带来气动损失,必须设计相应整流罩。整流罩的外形尺寸对气动力影响较大,会直接影响飞机的气动特性。设计整流罩时应该遵循整流罩外形设计要求,使其引起的高速巡航阻力尽可能小。在查阅相关文献、对比研究大量整流罩图片、分析研究计算机辅助设计(CAD)中NURBS曲面曲线描述方法的基础上,建立了一套详细的大型客机后缘襟翼滑轨整流罩外形设计方法,该方法在满足整流罩包裹住机构、减小气动损失等基本要求的同时,缩短了整流罩设计周期。     

On the effect of considering more realistic particle shape and mass parameters in MMOD risk assessments

One of the primary mission risks tracked in the development of all spacecraft is that due to micro-meteoroids and orbital debris (MMOD). Both types of particles, especially those larger than 0.1 mm in diameter, contain sufficient kinetic energy due to their combined mass and velocities to cause serious damage to crew members and spacecraft. The process used to assess MMOD risk consists of three elements: environment, damage prediction, and damage tolerance. Orbital debris risk assessments for the Orion vehicle, as well as the Shuttle, Space Station and other satellites use ballistic limit equations (BLEs) that have been developed using high speed impact test data and results from numerical simulations that have used spherical projectiles. However, spheres are not expected to be a common shape for orbital debris; rather, orbital debris fragments might be better represented by other regular or irregular solids. In this paper we examine the general construction of NASA’s current orbital debris (OD) model, explore the potential variations in orbital debris mass and shape that are possible when using particle characteristic length to define particle size (instead of assuming spherical particles), and, considering specifically the Orion vehicle, perform an orbital debris risk sensitivity study taking into account variations in particle mass and shape as noted above. While the results of the work performed for this study are preliminary, they do show that continuing to use aluminum spheres in spacecraft risk assessments could result in an over-design of its MMOD protection systems. In such a case, the spacecraft could be heavier than needed, could cost more than needed, and could cost more to put into orbit than needed. The results obtained in this study also show the need to incorporate effects of mass and shape in mission risk assessment prior to first flight of any spacecraft as well as the need to continue to develop/refine BLEs so that they more accurately reflect the shape and material density variations inherent to the actual debris environment.     

加力燃烧室双层喷油杆内冷却气流动特性

对新型外涵引气冷却双层壁加力喷油杆的冷气流动特性进行了模拟实验,为双层喷油杆结构设计和冷却性能研究提供基础.通过对8套不同结构尺寸实验件的研究,得到了双层喷油杆冷却套管内气流流阻系数随来流质量流量的变化规律、流阻系数随双层喷油杆结构尺寸的变化规律和冷却套内气流雷诺数随进口总压的变化规律等.对8套实验件结果进行比较,综合三个因素最终选择了较为合理的新型双层喷油杆结构尺寸.这种尺寸的喷油杆流阻系数为1.2,迎风尺寸宽16mm较为合适,相同工况下冷却气的雷诺数最大.      

High-precision shape approximation low-thrust trajectory optimization method satisfying bi-objective index

The shape approximation method has been proven to be rapid and practicable in resolving low-thrust trajectory; however, it still faces the challenges of large deviation from the optimal solution and inability to satisfy the specific flight time and fuel mass constraints. In this paper, a modified shape approximation low-thrust model is presented, and a novel constrained optimization algorithm is developed to solve this problem. The proposed method aims at settling the bi-objective optimization o...     

舰载导弹武器系统接口转换器设计

舰载导弹武器系统大多采用RS-485接口组成局域网,而各设备仅具有RS-232接口,文中介绍了一种无须外部供电的接口转换器。采用串口取电技术设计了转换器的电源电路;选用新型低功耗器件设计了接口的硬件电路,给出了接口软件流程。设计舰载导弹武器系统接口转换器,实现了接口间的信号转换。     

小推力航天器的地月低能转移轨道

 在限制性四体模型下研究基于小推力方式的地月低能转移问题,通过借助于平动点轨道的相空间结构来揭示小推力转移的机理。重点研究了小推力转移自由飞行段的构造：经由LL₁点穿越获得最小能量的低能转移;而经由LL₁点Halo轨道穿越,得到(M,N)圈穿越轨道;由于Halo轨道相对于平动点增加了一维度的选择,根据(2,2)圈穿越轨道构造该转移的自由飞行段。在地球势阱逃逸和月球势阱捕获段,分别设计了合适的小推力的控制律及发动机开/关机时间,成功实施近地球段的小推力加速和近月球段的减速。尽管未对所得到的结果进行优化,所得转移轨道的燃料消耗也与类似边界条件的SMART-1轨道基本一致。     

用电荷耦合器件测量激波辐射

用电荷耦合器件作摄谱探头，进行激波辐射的测量，解决了测量中遇到的同步问题。测量结果与一米光栅摄谱仪的记录干板比较，效果良好。     

相应于一类幂零李代数的顶点代数结构

顶点代数和顶点算子代数在物理学领域有着广泛的应用,因此对其研究也有很大的实际意义。主要从有限维幂零李代数g出发,给出了g带有非退化对称不变双线性函数的条件,并构造了相应于g的一个代数结构,从同构的意义上证明了其满足顶点代数的条件,从而给出了一个新的顶点代数结构。     

Multi-station observation of ionospheric disturbance of March 9 2012 and comparison with IRI-model

The magnetic storm of 9 March 2012 is a single step intense storm (Dst = −143 nT) whose main phase begins around 0100 UT and lasted for almost 11 h. The increases in NmF2 recorded 33% and 67% incidence respectively during the main and the recovery phase of the storm at the stations considered. The increase in hmF2 occurred concurrently with the increase in thickness parameter B0 between 0000 and 1100 UT, and a simultaneous decrease in the shape parameter B1 for the entire mid-latitude stations. Generally, B1 responded to the storm with a decrease away from the quiet day average, and decreased simultaneously with the increase in NmF2. B0 displays higher variability magnitude during daytime than the nighttime period. The occasional differences in the response of the ionospheric parameters to the storm event are attributed to longitudinal differences. Variation in hmF2 and NmF2 is projected to change in B1, but the rationale behind this effect on B1 is still not known and therefore left open. The two IRI options over-estimate the observed values with that of URSI higher than CCIR. The over-estimation was higher during the nighttime than the daytime for NmF2 response for the mid-latitude stations and the reverse for the equatorial station. A fairer fit of the model with the observed for all parameters over Jicamarca suggests that equatorial regions are better represented on the model. Extensive study of B1 and B0 is recommended to arrive at a better performance of IRI.