有向网络中无环最小饱和流问题及其算法

假设网络的初始流为零流,以最大堵塞截面为准堵塞截面,找出从源点到汇点的包含准堵塞截面弧最多的有条件最长增广路对网络进行增流,直至网络达到饱和,并对该算法进行了复杂性分析。利用该算法对多个网络进行论证,结果表明利用有条件最长增广路算法计算出的最小饱和流值与仿真计算以及与双向增流算法计算得到的结果基本相同,增流次数大大减少,且求解的结果避免了在封闭环路中的流量流动,进一步优化了最小饱和流值。     

缓冲/行走一体化着陆器运动学研究与步态规划

针对未来深空探测领域载人登陆、星表物资转运和基地建设等任务需求,提出了一种缓冲/行走一体化六足着陆器,并进行了步态规划和仿真校验.首先介绍了着陆器构型和驱动/吸能集成式缓冲器功能实现;其次,建立了 UP+2UPS三自由度悬臂式腿足机构运动学模型,推导了以UP为主运动链的逆运动学,以及由UP主链旋转运动向2UPS支链伸缩...     

基于遗传算法和序列二次规划法的结构稳健性优化设计方法

针对目前结构优化设计方法未考虑参数随机性的问题,提出基于遗传算法和序列二次规划法的结构稳健性优化设计方法。将结构产品的质量特性作为优化目标,性能函数的可靠度指标作为约束条件,建立稳健性优化设计模型。利用序列二次规划法计算其性能函数的可靠度指标,在此基础上,利用遗传算法进行迭代计算,得出最优设计结果。最后,将某型导引头导轨齿轮设计作为工程案例,验证了使用此结构稳健性优化设计方法能够降低产品重量,提高结构稳健性。     

利用遗传算法进行倾斜发射反舰导弹航路规划

为了寻找满足某些约束的最隐蔽安全的航路,基于遗传算法提出了一种适用于倾斜发射反舰导弹的航路规划算法。首先,分析了倾斜发射反舰导弹的飞行特征,提出了一种航路编码方法;其次,根据该航路编码方法的特点设计了相应的遗传操作;最后,通过仿真试验验证了该算法的有效性。     

装备采购中的工业工程管理模式

阐述了信息环境下与工业工程对应的管理模式是企业资源计划.为了能够通过企业资源计划(ERP)来提升自我竞争力,分析了ERP的内涵、技术特点,总结了装备生产中实施ERP的经验教训,并以某装备代理方为研究对象进行了ERP绩效评价指标体系与数学模型建立的研究.     

基于椭圆路径的回转二次曲面铣磨误差模型研究

以曲面的最小二乘准则为基础,用小误差变化矩阵,从曲面的局部构造出发研究包括六项对刀误差和刀具宽度误差在内的七项误差对加工的影响,建立二次回转曲面铣磨加工的误差模型,并分析模型的误差。     

航天器零推进剂姿态机动启发式规划方法

针对零推进剂姿态机动约束耦合,导致规划效率低的问题,提出一种基于约束评价启发式的差分进化算法。基于零推进剂姿态机动约束分析,在规划空间中建立约束评价函数,对航天器约束和控制力矩陀螺约束进行解耦分类处理。设计基于约束评价函数的启发式策略,用于改进差分进化算法的种群变异,主动控制规划进程,引导零推进剂姿态机动规划序列满足多种约束,得到安全的姿态机动路径和控制力矩陀螺框架角路径。最后,数值仿真结果验证了该方法能够实现航天器零推进剂姿态机动规划。     

空间机器人抓捕碰撞分析与轨迹规划镇定控制

针对空间机器人抓捕目标过程中产生的碰撞冲击问题,分析了抓捕瞬态碰撞对机器人系统产生的影响,提出了一种控制力矩能量消耗少、对卫星平台基座扰动小的镇定控制方法,实现了对抓捕目标后组合体系统的镇定控制。首先,利用Kane方法建立了抓捕后的目标-机械臂-卫星平台组合体动力学模型;其次,利用ADAMS软件分析了瞬态碰撞冲击对空间机器人系统的影响,为后续镇定控制策略的设计提供初始仿真参数;采用四次多项式实现了机械臂关节空间轨迹的参数化,设定了基于控制力矩能量与基座扰动的加权目标函数,利用差分进化算法(DE)求解得到满足控制力矩能量消耗小、平台基座扰动少的机械臂关节空间轨迹。最后,利用七自由度空间机器人的数值仿真,验证了所提出方法的有效性。     

Cloud attenuation statistics from radiometric measurements over a tropical location Kolkata,India

The objective of this study is to investigate cloud attenuation at 30 GHz frequency using ground-based microwave radiometric observations at a tropical location, Kolkata. At higher frequencies and lower elevation angles, cloud attenuation is of major concern at a tropical location. The location experiences high value of liquid water path (LWP), which is responsible for cloud attenuation, during the Indian summer monsoon (ISM) and pre-monsoon season. Significant amount of cloud attenuation has been observed during monsoon season at 30 GHz. Two years observations of exceedance probability of cloud attenuation and worst month statistics are presented. The variation of cloud attenuation with frequencies for different elevation angles has also been investigated. The seasonal and diurnal patterns of cloud attenuation are examined. Cloud attenuation, inferred from radiometric measurements before rain commencement, has been compared to rain attenuation at Ku-band. Exceedance probabilities of cloud and rain attenuation have been compared.     

Compensation of base disturbance using optimal trajectory planning of dual-manipulators in a space robot

This paper presents a trajectory planning algorithm for a space robot with dual-manipulators. Here one manipulator of the space robot captures a target, and another manipulator is free. In this case, this study uses one manipulator as the mission manipulator to capture the target, and another as the balance manipulator aiming at the compensation of the pose disturbance. For this method, a novel trajectory planning algorithm applied to the balance manipulator is presented. The trajectory planning problem is transformed into series of problems of the optimal state solution, and then the iterative algorithms for the trajectory planning are designed. In the iterative algorithms, the bias force on the spacecraft base caused by the balance manipulator is used as the compensation force. Then, to calculate the expected compensation force and torque, a pose control law for the spacecraft base is introduced. The expected compensation force and torque provide equality constraints for optimization problems, which implies that the trajectory planning algorithm compensates for not only the disturbance generated by the manipulator’s motion, but also environmental disturbances. This is because the expected compensation force and torque depend on the pose change of the spacecraft base rather than the type of the disturbance. Numerical simulation was carried out to analyze the proposed trajectory planning method. It was observed that the method greatly reduces the disturbance of Manipulator A on the spacecraft base. These results validated the effectiveness of the proposed method for the trajectory planning to make the spacecraft base disturbance up to minimum.